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This article is devoted to the stabilization of two underactuated planar systems, the well-known straight beam-and-ball system and an original circular beam-and-ball system. The feedback control for each system is designed, using the Jordan…
This paper investigates the effect of constant time delay in weakly connected multi-agent systems modeled by double integrator dynamics. A novel analytical approach is proposed to establish an upper bound on the permissible time delay that…
This paper presents a control methodology for achieving orbital stabilization with simultaneous time synchronization of periodic trajectories in underactuated robotic systems. The proposed approach extends the classical transverse…
Although the stabilization of underactuated systems remains a challenging problem, the total energy shaping approach provides a general framework for addressing this objective. However, the practical implementation of this method is…
The inverted pendulum is a mechanical system with a rapidly oscillating pivot point. Using techniques similar in spirit to the methodology of effective field theories, we derive an effective Lagrangian that allows for the systematic…
An eigenvalue based framework is developed for the stability analysis and stabilization of coupled systems with time-delays, which are naturally described by delay differential algebraic equations. The spectral properties of these equations…
Artificial time delay controller was conceptualised for nonlinear systems to reduce dependency on precise system modelling unlike the conventional adaptive and robust control strategies. In this approach unknown dynamics is compensated by…
This paper investigates stable suboptimal H-infinity controllers for a class of single-input single-output time-delay systems. For a given plant and weighting functions, the optimal controller minimizing the mixed sensitivity (and the…
We consider the modeling, stability analysis and controller design problems for discrete-time LTI systems with state feedback, when the actuation signal is subject to switching propagation delays, due to e.g. the routing in a multi-hop…
Oscillations between swing modes of electric machines is an important limitation in achieving a high level of transient performance and reliability in power grids. Based on the new advances in measurement and transmission of wide-area…
This paper investigates the robust stability and stabilization analysis of interval fractional-order systems with time-varying delay. The stability problem of such systems is solved first, and then using the proposed results a stabilization…
A control design approach is developed for a general class of uncertain strict-feedback-like nonlinear systems with dynamic uncertain input nonlinearities with time delays. The system structure considered in this paper includes a nominal…
This paper addresses the stabilization control problem for networked mobile robot subject to communication delay. A new state estimation filter namely past observation-based predictive filter is developed. This filter enables the prediction…
In the context of event-triggered control, the timing of the triggering events carries information about the state of the system that can be used for stabilization. At each triggering event, not only can information be transmitted by the…
We study delay-independent stability in nonlinear models with a distributed delay which have a positive equilibrium. Such models frequently occur in population dynamics and other applications. In particular, we construct a relevant…
A modification to the ${\cal L}_1$ control framework for uncertain systems with actuator delay is presented. Specifically, a time delay is introduced in the control input of the state predictor to compensate for the destabilizing effect of…
Stability of linear systems with uncertain bounded time-varying delays is studied under assumption that the nominal delay values are not equal to zero. An input-output approach to stability of such systems is known to be based on the bound…
The stability of a piezoelectric structure controlled by a digital vibration absorber emulating a shunt circuit is investigated in this work. The formalism of feedback control theory is used to demonstrate that systems with a low…
This paper studies the problem of event-triggered impulsive control for discrete-time systems. A novel periodic event-triggering scheme with two tunable parameters is presented to determine the moments of updating impulsive control signals…
We demonstrate that time-delayed feedback control can be improved by adaptively tuning the feedback gain. This adaptive controller is applied to the stabilization of an unstable fixed point and an unstable periodic orbit embedded in a…